Exemple #1
0
        public bool Equals(IPathSegment other)
        {
            if (other is BezierPathSegment)
            {
                BezierPathSegment bp = (BezierPathSegment)other;

                // check that all the point match up
                return(bp.cb.P0 == cb.P0 && bp.cb.P1 == cb.P1 && bp.cb.P2 == cb.P2 && bp.cb.P3 == cb.P3);
            }
            else
            {
                return(false);
            }
        }
        private Boolean IsClear(BezierPathSegment seg, double minLength, List<Polygon> obstacles)
        {
            foreach (Polygon p in obstacles)
                if (p.Intersect(seg))
                {
                    if (seg.Length < minLength)
                    {
                        return false;
                    }

                    else
                    {
                        CubicBezier[] newBeziers = seg.cb.Subdivide(0.5);

                        BezierPathSegment newSegA = new BezierPathSegment(newBeziers[0], seg.EndSpeed, seg.StopLine);
                        BezierPathSegment newSegB = new BezierPathSegment(newBeziers[1], seg.EndSpeed, seg.StopLine);

                        return IsClear(newSegA, minLength, obstacles) && IsClear(newSegB, minLength, obstacles);
                    }
                }
            return true;
        }
        private Boolean IsBezSegmentClear(BezierPathSegment seg, List<Polygon> obstacles, double advanceDistance)
        {
            PointOnPath p = seg.StartPoint;

            double refDist = 0;
            while (refDist == 0)
            {
                PointOnPath p2;
                refDist = advanceDistance;
                p2 = seg.AdvancePoint(p, ref refDist);
                foreach (Polygon poly in obstacles)
                {
                    if (poly.ConvexDoesIntersect(p.pt, p2.pt)) return false;
                }
                p = p2;
            }
            return true;
        }